{"id":754,"date":"2026-06-03T02:05:14","date_gmt":"2026-06-03T02:05:14","guid":{"rendered":"https:\/\/planetary-gearboxes.com\/?p=754"},"modified":"2026-06-03T02:05:14","modified_gmt":"2026-06-03T02:05:14","slug":"planetary-gearbox-selection-industrial-robot-joint-j1-j6","status":"publish","type":"post","link":"https:\/\/planetary-gearboxes.com\/sk\/planetary-gearbox-selection-industrial-robot-joint-j1-j6\/","title":{"rendered":"V\u00fdber plan\u00e9tovej prevodovky pre k\u013aby priemyseln\u00fdch robotov J1 a\u017e J6"},"content":{"rendered":"
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K\u00f3rea Ever-Power<\/span>
\nSprievodca aplik\u00e1ciami robotiky<\/span><\/div>\n

V\u00fdber plan\u00e9tovej prevodovky pre k\u013aby priemyseln\u00fdch robotov J1 a\u017e J6 \u2013 Pre\u010do ka\u017ed\u00e1 os potrebuje in\u00fa \u0161pecifik\u00e1ciu<\/h1>\n

Ke\u010f\u017ee v roku 2024 bolo na celom svete nain\u0161talovan\u00fdch 542 076 priemyseln\u00fdch robotov \u2013 \u010do je druh\u00fd najvy\u0161\u0161\u00ed ro\u010dn\u00fd po\u010det v hist\u00f3rii \u2013 k\u00f3rejsk\u00ed v\u00fdrobcovia OEM s\u00fa pod siln\u00fdm tlakom, aby spr\u00e1vne \u0161pecifikovali servo prevodovky hne\u010f na prv\u00fdkr\u00e1t. Jedin\u00e1 nespr\u00e1vna \u0161pecifik\u00e1cia k\u013abu na 6-osovom robote znamen\u00e1 bu\u010f skor\u00e9 zlyhanie lo\u017eiska na nedostato\u010dne \u0161pecifikovanej jednotke, alebo zbyto\u010dn\u00e9 n\u00e1klady a straty za zotrva\u010dnos\u0165 z d\u00f4vodu nad\u0161tandardne \u0161pecifikovanej jednotky. T\u00e1to pr\u00edru\u010dka poskytuje r\u00e1mec pre jednotliv\u00e9 osi.<\/p>\n

Z\u00edskajte podporu pri v\u00fdbere spoja po spoji \u2192<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>\n

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Pre\u010do jedna s\u00e9ria plan\u00e9tov\u00fdch prevodoviek nedok\u00e1\u017ee obsl\u00fa\u017ei\u0165 v\u0161etk\u00fdch \u0161es\u0165 k\u013abov robota<\/h2>\n

\u0160es\u0165 os\u00ed \u0161tandardn\u00e9ho priemyseln\u00e9ho robota sa nel\u00ed\u0161i len v po\u017eiadavk\u00e1ch na kr\u00fatiaci moment \u2013 \u200b\u200bz\u00e1sadne sa l\u00ed\u0161ia v tom, ktor\u00e1 fyzik\u00e1lna vlastnos\u0165 prevodovky je najd\u00f4le\u017eitej\u0161ia. J1 a J2 s\u00fa dominantne zameran\u00e9 na po\u017eiadavky na zotrva\u010dnos\u0165 a torzn\u00fa tuhos\u0165, ktor\u00e9 \u0161tandardn\u00e9 presn\u00e9 plan\u00e9tov\u00e9 prevodovky nedok\u00e1\u017eu adekv\u00e1tne splni\u0165 vo svojej triede kr\u00fatiaceho momentu. J3 je probl\u00e9m rovnov\u00e1hy medzi kr\u00fatiacim momentom a \u00fa\u010dinnos\u0165ou. J4 a J5 s\u00fa prim\u00e1rne probl\u00e9mom balenia, kde axi\u00e1lna h\u013abka ur\u010duje, \u010di z\u00e1p\u00e4stie robota zostane v r\u00e1mci cie\u013eov\u00e9ho objemu. J6 je probl\u00e9m minimaliz\u00e1cie r\u00fdchlosti a hmotnosti.<\/p>\n

Pou\u017eitie rovnakej s\u00e9rie prevodoviek na v\u0161etk\u00fdch \u0161es\u0165 k\u013abov \u2013 be\u017en\u00e1 skratka v po\u010diato\u010dn\u00fdch f\u00e1zach n\u00e1vrhu robotov \u2013 vedie k tomu, \u017ee niektor\u00e9 k\u013aby s\u00fa nadhodnoten\u00e9 (\u0165a\u017ek\u00e9, drah\u00e9, s vysokou zotrva\u010dnos\u0165ou) a in\u00e9 s\u00fa podhodnoten\u00e9 (nedostato\u010dn\u00e1 tuhos\u0165 alebo axi\u00e1lna \u00fanosnos\u0165). Spr\u00e1vny pr\u00edstup je pova\u017eova\u0165 ka\u017ed\u00fd k\u013ab za nez\u00e1visl\u00fd probl\u00e9m v\u00fdberu, rie\u0161en\u00fd postupne od J1 smerom von.<\/p>\n

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K\u013ab<\/th>\nPrim\u00e1rny dizajnov\u00fd hnac\u00ed motor<\/th>\nTypick\u00fd rozsah kr\u00fatiaceho momentu<\/th>\nTypick\u00fd pomer<\/th>\nPo\u017eiadavka na IP adresu<\/th>\nOdpor\u00fa\u010dan\u00e1 s\u00e9ria EP<\/th>\n<\/tr>\n<\/thead>\n
J1 \u2014 P\u00e1s<\/td>\nTorzn\u00e1 tuhos\u0165
\nZotrva\u010dnos\u0165 v\u017edy > 5:1<\/span><\/td>\n		800 \u2013 3 000+ N\u00b7m<\/td>\n20:1 \u2013 40:1<\/td>\nPreferovan\u00e9 IP65<\/td>\nEP-ZDS-142\/190<\/a><\/td>\n<\/tr>\n
J2 \u2014 Ve\u013ek\u00e9 rameno<\/td>\nKr\u00fatiaci moment + tuhos\u0165
\nMaxim\u00e1lny gravita\u010dn\u00fd kr\u00fatiaci moment<\/span><\/td>\n		600 \u2013 2 000+ N\u00b7m<\/td>\n16:1 \u2013 25:1<\/td>\nPreferovan\u00e9 IP65<\/td>\nEP-ZDS-115\/142<\/a><\/td>\n<\/tr>\n
J3 \u2013 Ru\u010dn\u00e1 zbra\u0148<\/td>\nKr\u00fatiaci moment + \u00fa\u010dinnos\u0165<\/td>\n250 \u2013 800 N\u00b7m<\/td>\n10:1 \u2013 20:1<\/td>\nIP54<\/td>\nEP-ZDS-115<\/strong> alebo EP-ZDE-160<\/a><\/td>\n<\/tr>\n
J4 \u2014 Rolovanie z\u00e1p\u00e4stia<\/td>\nAxi\u00e1lna h\u013abka (kompaktn\u00e1)<\/td>\n20\u201380 N\u00b7m<\/td>\n8:1 \u2013 16:1<\/td>\nIP54<\/td>\nEP-ZDWE-80<\/a> alebo EP-ZDE-80<\/td>\n<\/tr>\n
J5 \u2014 Z\u00e1p\u00e4stn\u00fd ohyb<\/td>\nAxi\u00e1lna h\u013abka (kompaktn\u00e1)<\/td>\n15 \u2013 60 N\u00b7m<\/td>\n8:1 \u2013 16:1<\/td>\nIP54<\/td>\nEP-ZDWE-60\/80<\/a><\/td>\n<\/tr>\n
J6 \u2014 Rot\u00e1cia n\u00e1stroja<\/td>\nMinimaliz\u00e1cia hmotnosti<\/td>\n5\u201320 N\u00b7m<\/td>\n3:1 \u2013 8:1<\/td>\nIP54<\/td>\nEP-ZDE-60<\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/section>\n

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\"Presn\u00e9<\/p>\n
K\u013aby ramena priemyseln\u00e9ho robota vy\u017eaduj\u00fa na ka\u017edej osi odli\u0161n\u00e9 \u0161pecifik\u00e1cie plan\u00e9tov\u00fdch reduk\u010dn\u00fdch prevodov \u2013 od vysoko tuh\u00fdch jednotiek IP65 na J1\/J2 a\u017e po kompaktn\u00e9 pravouhl\u00e9 vstupn\u00e9 jednotky na J4\/J5. Zobrazi\u0165 plan\u00e9tov\u00fa prevodovku s\u00e9rie EP \u2192<\/a><\/div>\n<\/div>\n

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J1 a J2 \u2013 Pre\u010do je torzn\u00e1 tuhos\u0165 d\u00f4le\u017eitej\u0161ia ako v\u00f4\u013ea<\/h2>\n

K\u013aby J1 (rot\u00e1cia p\u00e1sa) a J2 (ve\u013ek\u00e9 rameno) s\u00fa najn\u00e1ro\u010dnej\u0161ie k\u013aby v ka\u017edom 6-osovom robote. V k\u013abe J1 sa cel\u00e9 telo robota plus maxim\u00e1lne u\u017eito\u010dn\u00e9 za\u0165a\u017eenie ot\u00e1\u010da okolo z\u00e1kladne. V k\u013abe J2 p\u00f4sob\u00ed kombinovan\u00e1 hmotnos\u0165 predlaktia, z\u00e1p\u00e4stia a u\u017eito\u010dn\u00e9ho za\u0165a\u017eenia na rameno s maxim\u00e1lnym momentom, ke\u010f je rameno \u00faplne natiahnut\u00e9 horizont\u00e1lne. Oba k\u013aby maj\u00fa jednu ur\u010duj\u00facu charakteristiku: ich zotrva\u010dnos\u0165 z\u00e1\u0165a\u017ee \u0161truktur\u00e1lne prevy\u0161uje zotrva\u010dnos\u0165 rotora servomotora o 10 \u2013 35-n\u00e1sobok, a to aj pri prevodov\u00fdch pomeroch 20:1.<\/p>\n

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Pre\u010do J1\/J2 v\u017edy prekra\u010duj\u00fa pomer zotrva\u010dnosti 3:1 \u2013 a \u010do to znamen\u00e1<\/div>\n

Pre robota s u\u017eito\u010dn\u00fdm za\u0165a\u017een\u00edm 100 kg je efekt\u00edvna zotrva\u010dnos\u0165 z\u00e1\u0165a\u017ee v bode J1 pribli\u017ene 540 kg\u00b7m\u00b2 \u2013 cel\u00e9 telo robota a u\u017eito\u010dn\u00e9 za\u0165a\u017eenie sa ot\u00e1\u010daj\u00fa okolo z\u00e1kladne. Ve\u013ek\u00fd servomotor pre t\u00fato triedu m\u00e1 zotrva\u010dnos\u0165 rotora J_motor \u2248 0,15 kg\u00b7m\u00b2. Pri prevodovom pomere 20:1: J_odraz = 540\/20\u00b2 = 1,35 kg\u00b7m\u00b2<\/strong>, \u010do d\u00e1va pomer zotrva\u010dnosti 1,35\/0,15 = 9:1<\/strong> \u2014 v\u00fdrazne nad \u201ebezpe\u010dn\u00fdm\u201c cie\u013eom 3:1. Pri J2 s pomerom 20:1 sa pomer zlep\u0161uje pribli\u017ene na 2:1, \u010d\u00edm sa 20:1 st\u00e1va preferovan\u00fdm pomerom pre J2.<\/p>\n

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Pomer zotrva\u010dnosti J1 pri 20:1: 1,35 \/ 0,15 = 9,0:1 \u2190 v\u017edy vysok\u00fd pre os p\u00e1sa<\/div>\n
Pomer zotrva\u010dnosti J2 pri 16:1: 0,38 \/ 0,12 = 3,2:1 \u26a0\ufe0f hrani\u010dn\u00fd \u2014 pou\u017eite 20:1<\/div>\n
Pomer zotrva\u010dnosti J2 pri 20:1: 0,24 \/ 0,12 = 2,0:1 \u2705 ide\u00e1lny<\/div>\n
Pomer zotrva\u010dnosti J3 pri 16:1: 0,09 \/ 0,05 = 1,7:1 \u2705 ide\u00e1lny<\/div>\n<\/div>\n<\/div>\n

In\u017einierske rie\u0161enie: Torzn\u00e1 tuhos\u0165 zvy\u0161uje rezonan\u010dn\u00fa frekvenciu<\/h3>\n

Ke\u010f pomer zotrva\u010dnosti prekro\u010d\u00ed 3:1, \u0161tandardn\u00fd pr\u00edstup \u2013 zv\u00fd\u0161enie zosilnenia serva Kv \u2013 vybud\u00ed mechanick\u00fa rezonan\u010dn\u00fa frekvenciu pohonu. Pre J1 a J2 mus\u00ed by\u0165 t\u00e1to rezonan\u010dn\u00e1 frekvencia posunut\u00e1 nad \u0161\u00edrku p\u00e1sma riadenia serva (zvy\u010dajne 50 \u2013 100 Hz pre ovl\u00e1da\u010de k\u013abov robota), aby sa zabr\u00e1nilo kmitaniu. Rezonan\u010dn\u00e1 frekvencia syst\u00e9mu z\u00e1\u0165a\u017e-prevodovka je:<\/p>\n

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f_rezonancia = (1\/2\u03c0) \u00d7 \u221a(v\u00fdstup Ct \/ v\u00fdstup za\u0165a\u017eenia J)<\/div>\n
kde Ct_output = torzn\u00e1 tuhos\u0165 na v\u00fdstupnom hriadeli [N\u00b7m\/rad]; J_load_output = zotrva\u010dnos\u0165 z\u00e1\u0165a\u017ee [kg\u00b7m\u00b2]<\/div>\n
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EP-ZDE-160 (Ct=38 N\u00b7m\/arcmin \u2192 130 000 N\u00b7m\/rad): f_rezonan\u010dn\u00e9 \u2248 2,5 Hz<\/strong> na J2 \u2014 pod \u0161\u00edrkou p\u00e1sma serva \u2192 riziko kmitania<\/div>\n
EP-ZDS-115 (Ct=20 N\u00b7m\/arcmin \u2192 68 755 N\u00b7m\/rad): f_rezonan\u010dn\u00e1 \u2248 4,2 Hz<\/strong> na J2<\/div>\n
EP-ZDS-142 (Ct=44 N\u00b7m\/arcmin \u2192 151 260 N\u00b7m\/rad): f_rezonan\u010dn\u00e1 \u2248 6,3 Hz<\/strong> na J2 \u2013 zvl\u00e1dnute\u013en\u00fd rozsah<\/div>\n<\/div>\n
1 uhlov\u00e1 min\u00fata = \u03c0\/(60\u00d7180) rad \u2248 0,000291 rad. Ct[N\u00b7m\/rad] = Ct[N\u00b7m\/arcmin] \/ 0,000291.<\/div>\n<\/div>\n

Tento v\u00fdpo\u010det vysvet\u013euje, pre\u010do v\u00fdrobcovia robotov historicky pou\u017e\u00edvali pre spoje J1 a J2 prevodovky s deforma\u010dnou vlnou (nulov\u00e1 v\u00f4\u013ea, extr\u00e9mne vysok\u00e1 tuhos\u0165) a pre\u010do je pre tieto spoje relevantnou s\u00e9riou EP s vysokou tuhos\u0165ou EP-ZDS \u2013 s torznou tuhos\u0165ou a\u017e 130 N\u00b7m\/obl\u00fakov\u00e1 min\u00fata a axi\u00e1lnou kapacitou 28 000 N \u2013 a nie \u0161tandardn\u00e1 s\u00e9ria EP-ZDE. \u0160pecifik\u00e1cia v\u00f4le (<8 obl\u00fakov\u00fdch min\u00fat pre EP-ZDS) je druhorad\u00e1 vo\u010di hodnote Ct na tejto osi.<\/p>\n

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Kontroln\u00fd zoznam \u0161pecifik\u00e1ci\u00ed J1<\/div>\n